Surgical rotary cutting tool including articulable head

ABSTRACT

An articulating rotary cutting tool configured to articulate a distal cutting tip upon a trigger being operated. The trigger can be locked into various articulating positions. The velocity of rotation of a cutting bit is substantially constant in both articulating and non-articulating positions. An articulation joint is one of a hex ball joint or a flexible spring joint. A button is included to release a locking pressure holding the trigger in a locked position. The trigger may employ articulating sliding surfaces that provide constraint to a flexed head in both directions of articulation.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of co-pending U.S. ProvisionalPatent Application Ser. No. 62/768,609, filed Nov. 16, 2018, which isincorporated herein in its entirety.

FIELD OF THE INVENTION

The present disclosure generally relates to surgical cutting tools, andmore particularly to a surgical rotary cutting tool including anarticulable head.

BACKGROUND OF THE INVENTION

Bone spurs typically develop in human joints and can frequently be asource of pain from impingement, disability and early degenerative wearof the joints. In situations where arthroscopic surgical intervention isrequired, these bone spurs are typically removed under directarthroscopic visualization using straight arthroscopic burrs orangulated burrs in a fixed position. Unfortunately, the fixed nature ofthe burr limits the reach of the existing technology making it difficultor impossible to efficiently remove bone spurs in hard to reach areas.Additionally, when curved burrs are employed, they often do not fit inhard to reach areas due to the inability of the curve to be articulatedstraight on entry and exit.

In the shoulder, bone spurs typically develop on the undersurface of theacromion, the acromioclavicular joint and the inferior aspect of thehumeral head. In the hip, bone spurs are usually most problematic at therim of the acetabulum, the subspine area, and the femoral head-neckjunction. In the ankle, bone spurs can occur in many areas but arefrequently problematic at the anterior aspect of the tibiotalar joint.Other joints such as the knee and elbow, frequently also haveproblematic bone spurs that sometimes require arthroscopic resection.

Various types of mechanical joints exist that may be implemented insurgical cutting tools, or burrs, to articulate a cutting head of thetools. However, existing joints have low stability, wear quickly,produce too much vibration and noise, are limited in safe operationspeeds, and are too complicated to manufacture. One common example ofsuch joints is U-joints, which are known to have all of these problems.Further, U-joints cannot maintain a constant velocity of rotation atvarious angles.

More particularly, a universal joint cannot achieve a constant velocityof rotation at articulated angles because universal joints areinherently limited by mechanical inefficiency at high speeds, especiallyas they articulate beyond 15 degrees. Such properties predispose theseuniversal joints to backlash and breakage in such situations. Due tolimitations with wear and backlash, universal joints are not typicallyemployed in settings of high RPM.

Therefore, there exists a need in the art for a surgical burr thatsolves the above described problems and eliminates the above describedlimitations, by providing a burr that has a cutting rotational velocitythat remains constant at various different articulated positions.

SUMMARY OF THE INVENTION

This summary is provided to introduce a selection of concepts in asimplified form that are further described below in the detaileddescription. This summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used to limit the scope of the claimed subject matter. Furthermore,the claimed subject matter is not limited to implementations that solveany or all disadvantages noted in any part of this disclosure.

Disclosed is an articulating rotary cutting tool, comprising:

an outer shaft having a proximal end and a distal end;

at the distal end, a selectively articulable cutting head that isconfigured to articulate about a joint;

at the proximal end, a controller;

a cable extending between the articulable cutting head and thecontroller through the outer shaft;

a drive shaft within the outer shaft extending between the proximal endand the distal end, the drive shaft attached to a rotary socket at thedistal end for driving the rotary socket, the cable located between thedrive shaft and the outer shaft, the drive shaft connectable to a driverat a proximal end of the drive shaft for being driven to translaterotational motion delivered by the driver to the articulable cuttinghead;

wherein the cable is attached to the controller and the articulablecutting head such that operating the controller causes the cable todisplace to selectively articulate the articulable cutting head aboutthe joint; and

wherein the articulable cutting head includes a rotary cutting bit andan articulable support that the rotary cutting bit rotates in relationto, the rotary cutting bit being configured to be rotationally driven bythe rotary socket such that the rotary cutting bit is rotationallydrivable by the rotary socket in both a non-articulated and anarticulated position.

In another aspect, the rotary cutting bit and the articulable supportarticulate together upon the controller being operated.

In another aspect, the rotary socket is located inside the outer shaftat the distal end of the outer shaft.

In another aspect, the drive shaft and the rotary socket rotate about alongitudinal axis of rotation in relation to the outer shaft and thecable.

In another aspect, the drive shaft and rotary socket rotate in relationto the outer shaft and the cable to cause the rotary cutting bit torotate in relation to the articulable support of the articulable cuttinghead in both an articulated and non-articulated position of thearticulable cutting head.

In another aspect, the cable translates longitudinally in relation tothe outer shaft to cause the articulable cutting head to articulate.

In another aspect, the articulating rotary cutting tool furthercomprises:

a distal connector;

wherein the distal connector is configured to connect the articulablecutting head to the distal end of the outer shaft; and

wherein the distal connector includes a space to receive the cabletherethrough for attaching a distal end of the cable to the articulablecutting head.

In another aspect, the joint has a joint axis of pivotation that passesthrough the rotary socket.

In another aspect, the rotary cutting bit pivotably attaches at apivotal bit attachment point to a distal end of the rotary socket, suchthat the rotary cutting bit articulates by pivoting about the pivotalbit attachment point, about a bit axis of pivotation.

In another aspect, the articulable support is pivotably attached to thedistal connector at opposing pivotal support attachment points, allowingthe articulable support to pivotally articulate by pivoting about asupport axis of pivotation that passes through the pivotal bitattachment point of the rotary cutting bit.

In another aspect, the articulable support and the rotary cutting bitshare an axis of pivotation through a pivotal attachment point of thearticulable support at the distal connector, and through the pivotalattachment point of the rotary cutting bit at the rotary socket.

In another aspect, the axis of pivotation passes through both pivotalattachment points of the articulable support and the rotary cutting bit.

In another aspect, the rotary cutting bit includes a rotary cutting bitgroove, and the articulable support is configured to receive twoparallel opposing bit pins on opposing sides of the articulable support,such that the rotary cutting bit is supported by the two bit pinscontacting the rotary cutting bit groove while the rotary cutting bit isdriven.

In another aspect, the rotary socket includes a groove, and the outershaft is configured to receive two parallel opposing socket pins onopposing sides of the outer shaft, such that the rotary socket issupported by the socket pins contacting the rotary socket groove whilethe rotary socket is driven.

In another aspect, the rotary cutting bit is flexibly attached to therotary socket by an intermediate flexible structure, the flexiblestructure acting as a flexible spring joint.

In another aspect, the flexible structure is a spring.

In another aspect, the controller includes a trigger that is pivotablyattached to the outer shaft at opposing pivotal trigger attachmentpoints such that the trigger pivots about a trigger pivotation axis.

In another aspect, a proximal end of the cable is attached to thetrigger at a cable-trigger connection point, where the cable-triggerconnection point is a point that is spaced away from the triggerpivotation axis, such that pulling the trigger causes the cable-triggerconnection point to displace in relation to the trigger pivotation axis.

In another aspect, the controller includes a toothed slide connected tothe trigger, and a proximal end plug that fixedly fits in the proximalend of the outer shaft, such that pulling the trigger displaces thetoothed slide, wherein the proximal end plug has an external plugportion configured to snap into notches between teeth of the toothedslide such that pulling the trigger causes the external plug portion ofthe proximal end plug to snap into a next notch of the notches.

In another aspect, the proximal end plug is configured to receive thedrive shaft freely therethrough.

In another aspect, a cable-trigger connecting slide is included in thecontroller to connect the cable to the trigger at the cable-triggerconnection point, where the trigger is pivotably attached to thecable-trigger connecting slide, where the cable-trigger connecting slideis configured to receive the cable through a receiving space of thecable-trigger connecting slide, where the cable-trigger connecting slidealso is connected to the toothed slide for displacing the toothed slide,and where pulling the trigger translates the cable-trigger connectingslide longitudinally in a direction away from the distal end of theouter shaft, to cause the toothed slide to translate.

In another aspect, the cable-trigger connecting slide is pivotablyconnected to the toothed slide to reduce lateral forces applied to thetoothed slide by the cable-trigger connecting slide translating.

In another aspect, the articulating rotary cutting tool furthercomprises:

a second cable that is attached at one end to a spring at the proximalend of the outer shaft and attached at an opposite end of the secondcable to an upper portion of the articulable cutting head laterallyabove the pivotal support attachment points and laterally above thepivotal bit attachment point, the second cable passing through thedistal connector, the spring biasing the articulable cutting head towarda non-articulated position by applying a longitudinal biasing forcehaving a force vector pointed away from the articulable cutting head,causing the trigger to be spring biased toward a non-articulatingposition, since a forward biasing force on the trigger is mechanicallydependent on the spring biasing force applied by the spring through thesecond cable, through the articulable cutting head, and through thefirst cable.

In another aspect, the two cables are vertically aligned and parallel.

In another aspect, the spring bias applied by the second cable to thetrigger by way of pulling the articulable cutting head causes the teethof the toothed slide to be longitudinally force-biased against theexternal plug portion, such that pulling the trigger can overcome thespring bias and snap the external plug portion between the teeth, andsuch that the trigger is selectively lockable into a next notch betweenthe teeth.

In another aspect, the controller further includes a spring biasedbutton that arcs over the drive shaft and contacts the toothed slidesuch that when the button is pressed the toothed slide translateslaterally away from the drive shaft such that the toothed slide releasesfrom being longitudinally forced against the external plug portioncausing the trigger to translate back to the non-articulating positiondue to the spring bias applied by the spring and the second cable,allowing a user to subsequently pull the trigger to selectively lock thetoothed slide behind the external plug portion in increments set by aspacing of the teeth to one or more articulated positions set by thespacing of the teeth, and such that the user may press the spring biasedbutton again to release the toothed slide from being longitudinallyforced against the external plug portion and be displaced back into thenon-articulating position by way of a spring force applied through thesecond cable by the spring.

In another aspect, the controller further includes:

a second spring biasing the toothed slide upwards, laterally, to allowthe teeth to be laterally forced against the external plug portion andto allow the external plug portion to contact a top surface of thetoothed slide, to allow the teeth to apply a longitudinal force againstthe external plug portion due to the spring bias of the first spring,such that the button contacts a top surface of the toothed slide tocause the toothed slide to displace downward against the second springwhen the button is pressed to release the teeth from beinglongitudinally forced against external plug portion.

In another aspect, the second spring receives a perpendicular,laterally, and downwardly extending portion of the toothed slide suchthat the second spring applies a longitudinal resistive force to thedownwardly extending portion of the toothed slide when the trigger ispulled.

In another aspect, the proximal end plug houses the first spring and afront portion of the cable-trigger connecting slide, and a proximal endof the first spring is attached to a proximal portion of the proximalend plug.

In another aspect, the articulating rotary cutting tool furthercomprises:

a second cable attached to a second cable-trigger connection point onthe trigger, such that the second cable-trigger connection point isopposite to the first cable-trigger connection point of the first cablewith respect to the trigger pivotation axis, where the secondcable-trigger connection point is spaced away from the triggerpivotation axis, such that operating the trigger causes the firstcable-trigger connection point and the second cable-trigger connectionpoint to displace in opposite directions to selectively articulate thecutting head between non-articulated and articulated positions.

In another aspect, the controller includes a toothed arm, such thatpushing a button displaces the toothed arm, wherein a proximal end ofthe trigger is configured to snap into notches between teeth of thetoothed arm such that pulling or pushing the trigger causes the proximalend of the trigger to snap into a next notch, respectively, whereinoperating the button releases pressure between the proximal end of thetrigger and the toothed arm to allow the trigger to more freely movewith respect to the toothed arm.

In another aspect, the toothed arm is curved, matching an arc travelableby the proximal end of the trigger.

In another aspect, the button is configured to receive the drive shaftfreely therethrough, and includes two sets of horizontal lateralextensions, one set on each side, such that two opposing longitudinalextensions of the toothed arm are each respectively received in a gapbetween each set of horizontal extensions of the button, to allow thebutton to press down and up on the longitudinal extensions of thetoothed arm.

In another aspect, the toothed arm arcs over, and is pivotably attachedto a toothed arm attachment point at opposing outer surfaces of theouter shaft between the longitudinal extensions and a distal portion ofthe toothed arm, such that pressing down on the longitudinal extensionsvia the button and upper horizontal extensions of the button causes thedistal portion to rise, and wherein the button is spring biasedlaterally upward via a spring to bias the longitudinal extensions upwardvia lower horizontal extensions of the button, for maintaining anappropriate pressure between the distal portion of the toothed arm andthe proximal end of the trigger, the toothed arm attachment point beinga fulcrum point for the toothed arm pivoting according to pressing orreleasing the button.

In another aspect, the cables each have ball ends to prevent the cablesfrom passing through their respective connection points.

In another aspect, a proximal end of the drive shaft is covered by ahousing.

In another aspect, the controller includes a housing to secure itscomponents, while exposing the button, the trigger, a proximal portionof the drive shaft, the housing of the drive shaft, forward portions ofthe outer shaft, and the articulable cutting head.

In another aspect, a sheath may be fixedly attached to the articulablesupport to block non-cutting portions of the articulable support.

These and other objects, features, and advantages of the presentinvention will become more readily apparent from the attached drawingsand the detailed description of the preferred embodiments, which follow.

BRIEF DESCRIPTION OF THE DRAWINGS

The preferred embodiments of the invention will hereinafter be describedin conjunction with the appended drawings provided to illustrate and notto limit the invention, where like designations denote like elements,and in which:

FIG. 1 presents a top perspective view of an articulating rotary cuttingtool having a ball joint at an articulable cutting head and aspring-biased trigger, in accordance with aspects of the presentdisclosure;

FIG. 2 presents a bottom perspective view of the articulating cuttingtool of FIG. 1, in accordance with aspects of the present disclosure;

FIG. 3 presents an exploded view of various parts of distal portions ofthe articulating cutting tool of FIG. 1, in accordance with aspects ofthe present disclosure;

FIG. 4 presents an exploded view of various parts of proximal portionsof the articulating cutting tool of FIG. 1, in accordance with aspectsof the present disclosure;

FIG. 5 presents a side elevation view of the articulating cutting toolof FIG. 1, where the trigger is being pulled to cause the articulablecutting head to articulate downward, in accordance with aspects of thepresent disclosure;

FIG. 6 presents exemplary use of an articulating cutting tool on ashoulder joint, in accordance with aspects of the present disclosure;

FIG. 7 presents exemplary use of an articulating cutting tool on a hipjoint, in accordance with aspects of the present disclosure;

FIG. 8 presents a cross sectional view of a controller of thearticulating cutting tool of FIG. 1, where the cross section is takenalong longitudinal cross sectional plane 8-8 of FIG. 1, in accordancewith aspects of the present disclosure;

FIG. 9 presents a cross sectional view of a distal end of thearticulating cutting tool of FIG. 1, where the cross section is takenalong longitudinal cross sectional plane 9-9 of FIG. 1, in accordancewith aspects of the present disclosure;

FIG. 10 presents a cross sectional view of a distal end of thearticulating cutting tool of FIG. 1, where the articulable cutting headis in an articulated position, where the cross section is taken alonglongitudinal cross sectional plane 10-10 of FIG. 1, in accordance withaspects of the present disclosure;

FIG. 11 presents a top perspective view of an articulating rotarycutting tool having a flexible joint at an articulable cutting head anda non-spring-biased trigger, in accordance with aspects of the presentdisclosure;

FIG. 12 presents a bottom perspective view of the articulating cuttingtool of FIG. 11, in accordance with aspects of the present disclosure;

FIG. 13 presents an exploded view of various parts of distal portions ofthe articulating cutting tool of FIG. 11, in accordance with aspects ofthe present disclosure;

FIG. 14 presents an exploded view of various parts of proximal portionsof the articulating cutting tool of FIG. 11, in accordance with aspectsof the present disclosure;

FIG. 15 presents a cross sectional view of a controller of thearticulating cutting tool of FIG. 11, where the cross section is takenalong longitudinal sectional plane 15-15 of FIG. 11, in accordance withaspects of the present disclosure;

FIG. 16 presents a cross sectional view of a distal end of thearticulating cutting tool of FIG. 11, where the cross section is takenalong longitudinal cross sectional plane 16-16 of FIG. 11, in accordancewith aspects of the present disclosure; and

FIG. 17 presents a cross sectional view of a distal end of thearticulating cutting tool of FIG. 11, where the articulable cutting headis in an articulated position, where the cross section is taken alonglongitudinal cross sectional plane 17-17 of FIG. 11, in accordance withaspects of the present disclosure.

Like reference numerals refer to like parts throughout the several viewsof the drawings.

DETAILED DESCRIPTION

The following detailed description is merely exemplary in nature and isnot intended to limit the described embodiments or the application anduses of the described embodiments. As used herein, the word “exemplary”or “illustrative” means “serving as an example, instance, orillustration.” Any implementation described herein as “exemplary” or“illustrative” is not necessarily to be construed as preferred oradvantageous over other implementations. All of the implementationsdescribed below are exemplary implementations provided to enable personsskilled in the art to make or use the embodiments of the disclosure andare not intended to limit the scope of the disclosure, which is definedby the claims. For purposes of description herein, the terms “upper”,“lower”, “left”, “rear”, “right”, “front”, “vertical”, “horizontal”, andderivatives thereof shall relate to the invention as oriented in FIG. 1.Furthermore, there is no intention to be bound by any expressed orimplied theory presented in the preceding technical field, background,brief summary or the following detailed description. It is also to beunderstood that the specific devices and processes illustrated in theattached drawings, and described in the following specification, aresimply exemplary embodiments of the inventive concepts defined in theappended claims. Hence, specific dimensions and other physicalcharacteristics relating to the embodiments disclosed herein are not tobe considered as limiting, unless the claims expressly state otherwise.

As shown throughout FIGS. 1-17, disclosed is an articulating rotarycutting tool 100. The rotary cutting tool 100 may include an outer shaft102 having a proximal end 104 and a distal end 108, and at the distalend 108, a selectively articulable cutting head 106 that is configuredto articulate about a joint 502 (FIG. 5). The rotary cutting tool 100may include, at the proximal end 104, a controller 110, and a firstcable 302 (FIG. 3) extending between the articulable cutting head 106and the controller 110 through the outer shaft 102. It is to beunderstood that any of the herein described cables could be alongitudinal rigid or semi-rigid structure, such as a push-pull rod.

The rotary cutting tool 100 may include a drive shaft 304 (FIGS. 3 and4) within the outer shaft 102 extending between the proximal end 104 andthe distal end 108. The drive shaft 304 may be attached to a rotarysocket 306 (FIG. 3) at the distal end 108 for driving the rotary socket306. As shown in FIGS. 16 and 17, the rotary socket 306 may have aninternal hollow space to favorably change (e.g. increase) the rotationalinertia of the rotary socket 306. The first cable 302 may be locatedbetween the drive shaft 304 and the outer shaft 102 (FIG. 3). A secondcable 316 is also shown in FIG. 3, between the drive shaft 304 and theouter shaft 102. The drive shaft 304 may be connectable to a driver 802at a proximal end of the drive shaft 304 for being driven to translaterotational motion delivered by the driver 802 to the articulable cuttinghead 106.

It is to be understood that the rotary socket 306 and the drive shaft304 may be integrated in one piece. In other words, the drive shaft 304may have a rotary socket configuration at its distal end to effect thefunctionalities described herein, without departing from the spirit orscope of this disclosure. For example such a rotary socket configurationintegrated in the drive shaft 304 may have any structure, element, orconfiguration of the rotary socket 306 to effect the functionalitiesdisclosed herein of the rotary socket 306 and connected parts.

The first cable 302 may be attached to the controller 110 (FIG. 8) andthe articulable cutting head 106 such that operating the controller 110causes the first cable 302 to displace to selectively articulate thearticulable cutting head 106 about the joint 502 (FIG. 5). The firstcable 302 may translate longitudinally in relation to the outer shaft102 to cause the articulable cutting head 106 to articulate.

The articulable cutting head 106 may include a rotary cutting bit 308and an articulable support 310 that the rotary cutting bit 308 rotatesin relation to (FIGS. 9 and 10). The rotary cutting bit 308 may beconfigured to be rotationally driven by the rotary socket 306 such thatthe rotary cutting bit 308 is rotationally drivable by the rotary socket306 in both a non-articulated 118 (FIG. 1) and an articulated position1002 (FIG. 10). The rotary cutting bit 308 and the articulable support310 may articulate together upon the controller 110 being operated (FIG.10). As shown in FIGS. 16 and 17, the rotary cutting bit 308 may have aninternal hollow space to favorably change (e.g. increase) the rotationalinertia of the rotary cutting bit 308.

The rotary socket 306 may be located inside the outer shaft 102 at thedistal end 108 of the outer shaft 102 (FIGS. 9 and 10). The drive shaft304 and the rotary socket 306 may rotate about a longitudinal axis ofrotation in relation to the outer shaft 102 and the cables 302 and 316.The drive shaft 304 and rotary socket 306 may rotate in relation to theouter shaft 102 and the cables 302 and 316 to cause the rotary cuttingbit 308 to rotate in relation to the articulable support 310 of thearticulable cutting head 106 in both an articulated (FIG. 10) andnon-articulated (FIG. 9) position of the articulable cutting head 106.

The articulating rotary cutting tool 100 may include a distal connector312 (FIG. 3). The distal connector 312 may be configured to connect thearticulable cutting head 106 to the distal end 108 of the outer shaft102 (FIG. 9).

The distal connector 312 may include a space to receive the first cable302 and the second cable 316 therethrough for attaching a distal end ofthe first cable 302 and the second cable 316 to the articulable cuttinghead 106 (FIG. 10).

The joint 502 may have a joint axis 904 that passes through the rotarysocket (FIG. 9). The rotary cutting bit 308 may pivotably attach at apivotal bit attachment point 906 to a distal end of the rotary socket306, such that the rotary cutting bit 308 articulates by pivoting aboutthe pivotal bit attachment point 906, about the joint axis (FIGS. 9 and10).

The articulable support 310 may be pivotably attached to the distalconnector 312 at opposing pivotal support attachment points 910,allowing the articulable support 310 to pivotally articulate by pivotingabout the joint axis 904 that passes through the pivotal bit attachmentpoint 906 of the rotary cutting bit 308 (FIGS. 9 and 10). Thearticulable support 310 and the rotary cutting bit 308 may share an axisof pivotation through a pivotal attachment point 910 of the articulablesupport 310 at the distal connector 312, and through the pivotalattachment point 906 of the rotary cutting bit 308 at the rotary socket306 (FIGS. 9 and 10).

The rotary cutting bit 308 may include a rotary cutting bit groove 914(FIGS. 9 and 10), and the articulable support 310 may be configured toreceive two parallel opposing bit pins 916 on opposing sides of thearticulable support 310, such that the rotary cutting bit 308 issupported by the two bit pins 916 contacting the rotary cutting bitgroove 914 while the rotary cutting bit 308 is driven (FIGS. 9 and 10).The rotary socket 306 may include a rotary socket groove 918 (FIGS. 9and 10), and the outer shaft 102 may be configured to receive twoparallel opposing socket pins 920 on opposing sides of the outer shaft102, such that the rotary socket 306 is supported by the socket pins 920contacting the rotary socket groove 918 while the rotary socket 306 isdriven (FIGS. 9 and 10).

The rotary cutting bit 308 may be flexibly attached to the rotary socket306 by an intermediate flexible structure 1302 (FIGS. 13, 16, and 17).The flexible structure 1302 may act as a flexible spring joint. Theflexible structure may be a spring.

The controller 110 may include a trigger 112 that is pivotably attachedto the outer shaft 102 at opposing pivotal trigger attachment points 804such that the trigger 112 pivots about a trigger pivotation axis 806(FIGS. 4 and 8).

A proximal end of the first cable 302 may be attached to the trigger 112at a cable-trigger connection point 808, where the first cable-triggerconnection point 808 is a point that is spaced away from the triggerpivotation axis 806, such that pulling the trigger 112 causes the firstcable-trigger connection point 808 to displace in relation to thetrigger pivotation axis 806 (FIG. 8).

The controller 110 may include a toothed slide 810 connected to thetrigger 112, and a proximal end plug 812 that fixedly fits in theproximal end 104 of the outer shaft 102, such that pulling the trigger112 displaces the toothed slide 810 (FIG. 8). The proximal end plug 812may have an external plug portion 814 configured to snap into notchesbetween teeth 816 of the toothed slide 810 such that pulling the trigger112 causes the external plug portion 814 of the proximal end plug 812 tosnap into a next notch of the notches between the teeth 816. Theproximal end plug 812 may be configured to receive the drive shaft 304freely therethrough (FIGS. 4, and 8).

A first cable-trigger connecting slide 818 may be included in thecontroller 110 to connect the first cable 302 to the trigger at thefirst cable-trigger connection point 808 (FIG. 8). The trigger 112 maybe pivotably attached to the first cable-trigger connecting slide 818.The first cable-trigger connecting slide 818 may be configured toreceive the first cable 302 through a receiving space of the firstcable-trigger connecting slide 818. The first cable-trigger connectingslide 818 also may be connected to the toothed slide 810 for displacingthe toothed slide 810. Pulling the trigger 112 may translate the firstcable-trigger connecting slide 818 longitudinally in a direction awayfrom the distal end 108 of the outer shaft 102, to cause the toothedslide 810 to translate. The first cable-trigger connecting slide 818 maybe pivotably connected to the toothed slide 810 to reduce lateral forceapplied to the toothed slide 810 by the first cable-trigger connectingslide 818 translating (FIG. 8).

The articulating rotary cutting tool 100 may further include a secondcable 316 that is attached at one end to a first spring 820 at theproximal end 104 of the outer shaft 102 and attached at an opposite endof the second cable 316 to an upper portion of the articulable cuttinghead 106 laterally above the pivotal support attachment points 910 andlaterally above the pivotal bit attachment point 906 (FIG. 8). Thesecond cable 316 may pass through the distal connector 312. The firstspring 820 may bias the articulable cutting head 106 toward anon-articulated position 118 by applying a longitudinal biasing forcehaving a force vector pointed away from the articulable cutting head106, causing the trigger 112 to be spring biased toward anon-articulating position 118. A forward biasing force on the trigger112 is mechanically dependent on the spring biasing force applied by thefirst spring 820 through the second cable 316, through pivoting thearticulable cutting head 106, and through the first cable 302. The twocables may be vertically aligned and parallel (FIG. 8).

The spring bias applied by the second cable 316 to the trigger 112 byway of pulling the articulable cutting head 106 may cause the teeth 816of the toothed slide 810 to be longitudinally force-biased against theexternal plug portion 814, such that pulling the trigger 112 canovercome the spring bias and snap the external plug portion 814 betweenthe teeth 816, and such that the trigger 112 is selectively lockableinto a next notch between the teeth 816.

The controller 110 may further include a spring biased button 824 thatarcs over the drive shaft 304 and contacts the toothed slide 810 suchthat when the button 824 is pressed the toothed slide 810 translateslaterally away from the drive shaft 304, such that the toothed slide 810releases from being longitudinally forced against the external plugportion 814 causing the trigger to translate back to thenon-articulating position 118 due to the spring bias applied by thefirst spring 820 and the second cable 316 (FIG. 8). This allows a userto subsequently pull the trigger 112 to selectively lock the toothedslide 810 behind the external plug portion 814 in increments set by aspacing of the teeth 816 to one or more articulated positions set by thespacing of the teeth 816, such that the user may press the spring biasedbutton 824 again to release the toothed slide 810 from beinglongitudinally forced against the external plug portion 814 and bedisplaced back into the non-articulating position 118 by way of a springforce applied through the second cable 316 by the first spring 820.

The controller may further include a second spring 826 biasing thetoothed slide 810 upwards (FIG. 8), laterally, to allow the teeth 816 tobe laterally forced against the external plug portion 814 and to allowthe external plug portion 814 to contact a top surface of the toothedslide 810, to allow the teeth 816 to apply a longitudinal force againstthe external plug portion 814 due to the spring bias of the first spring820, such that the button 824 contacts a top surface of the toothedslide 810 to cause the toothed slide 810 to displace downward againstthe second spring 826 when the button 824 is pressed to release theteeth 816 from being longitudinally forced against the external plugportion 814.

The second spring 826 may receive a perpendicular, laterally, anddownwardly extending portion 828 of the toothed slide 810 such that thesecond spring 826 applies a longitudinal resistive force to thedownwardly extending portion 828 of the toothed slide 810 when thetrigger 112 is pulled (FIG. 8).

The proximal end plug 812 may house the first spring 820 and a frontportion of the first cable-trigger connecting slide 818. A proximal endof the first spring 820 may be attached to a proximal portion of theproximal end plug 812.

Turning to the exemplary tool of FIG. 11, the articulating rotarycutting tool 100 may further include a second cable 316 attached to asecond cable-trigger connection point 808 on the trigger 112, such thatthe second cable-trigger connection point 808 is opposite to the firstcable-trigger connection point 808 of the first cable 302 with respectto the trigger pivotation axis 806 (FIG. 15). The second cable-triggerconnection point 808 may be spaced away from the trigger pivotation axis806, such that operating the trigger 112 causes the first cable-triggerconnection point 808 and the second cable-trigger connection point 808to displace in opposite directions to selectively articulate the cuttinghead 106 between non-articulated 118 and articulated 1002 positions.

The controller may include a toothed arm 1502, such that pushing abutton 824 displaces the toothed arm 1502 (FIG. 15). A proximal end 1506of the trigger 112 may be configured to snap into notches between teeth816 of the toothed arm 1502 such that pulling or pushing the trigger 112causes the proximal end 1506 of the trigger 112 to snap into a nextnotch, respectively. Operating the button 824 may release pressurebetween the proximal end 1506 of the trigger 112 and the toothed arm1502 to allow the trigger 112 to more freely move with respect to thetoothed arm 1502. The toothed arm 1502 may be curved, matching an arctravelable by the proximal end 1506 of the trigger 112.

The button 824 may be configured to receive the drive shaft 304 freelytherethrough. The button 824 may include two sets of horizontal lateralextensions 1402 (FIG. 14), one set on each side, such that two opposinglongitudinal extensions 1404 of the toothed arm 1502 are eachrespectively received in a gap 1406 between each set of horizontalextensions 1402 of the button 824. This allows the button 824 to pressdown and press up on the longitudinal extensions 1404 of the toothed arm1502 via the horizontal extensions 1402 of the button 824.

The toothed arm 1502 may arc over the outer shaft 102 and/or the driveshaft 304 (FIG. 14), and be pivotably attached to a toothed armattachment point 1408 at opposing outer surfaces of the outer shaft 102between the longitudinal extensions 1404 and a distal portion of thetoothed arm 1502, such that pressing down on the longitudinal extensions1404 via the button 824 and upper horizontal extensions of the button824 causes the distal portion to rise. The button 824 may be springbiased laterally upward (FIG. 15) via a spring 1414 to bias thelongitudinal extensions upward via lower horizontal extensions of thebutton 824, for maintaining an appropriate pressure between the distalportion of the toothed arm 1502 and the proximal end of the trigger 112.Therefore, the toothed arm attachment point 1408 may be a fulcrum pointfor pivoting the toothed arm 1502 according to or in response topressing or releasing the button 824.

The first and second cables each may have ball ends 1504 to prevent thecables from passing through or slipping out of their respectiveconnection points at the controller and the articulable cutting head 106(FIGS. 15 and 17).

It is to be understood that the configuration of the controller shown inFIGS. 14 and 15 may work synergistically with the flexible spring jointshown in FIG. 11, such that the articulated slide mechanism of thecontroller includes two surfaces 818 having constrained translationcapability attached to the trigger 112 to efficiently articulate thehead while also providing constraint to flexion and extension of thehead in the articulated position due to the constrained translation ofthe two surfaces 818. This prevents the articulated head fromexcessively flexing or extending inadvertently during use (e.g. it willhold the articulation steady in a locked position).

A proximal end of the drive shaft 304 may be covered by a housing 114(FIG. 1). The controller 110 may include a housing 116 to secure itscomponents, while exposing the button 824, the trigger 112, a proximalportion of the drive shaft 304, the housing 114 of the drive shaft 304,forward or distal portions of the outer shaft 102, and the articulablecutting head 106. A guard or sheath 314 may be fixedly attached to thearticulable support 310 to protect upper portions of the bit 308 fromcontacting unwanted surfaces, or to block debris (FIG. 3).

It is to be understood that, for clarity, the term pivoting orpivotation may refer to rotating or rotation having a lateral axis ofrotation, and rotating or rotation may refer to rotating or rotationhaving a longitudinal axis of rotation, with respect to a longitudinalaxis of the device or outer shaft. Further it is to be understood thatdescriptions of features, functions, elements, and structures, of FIGS.1-10 may also apply to features, functions, elements, and structures ofFIGS. 11-17, and vice-versa without departing from the spirit and scopeof the present disclosure.

Further, it is to be understood that the term “articulating” may referto causing the articulable cutting head to articulate. For example thetrigger may hold an articulating position, to cause the articulablecutting head to hold an articulated position.

The disclosed articulating joint may be a constant velocity joint,providing a constant velocity of bit rotation in both an articulated andnon-articulated position. The joint may be a hex ball joint (i.e.multi-faceted ball) as shown in FIGS. 3, 5-7, 9, and 10. Thenon-spring-biased trigger of FIGS. 11-17 may be referred to, and havethe functions of, a mirror detented articulating slide. It is to beunderstood that where “hex ball” is mentioned herein, this may refer toa multi-faceted ball and the spirit and scope of the invention is notlimited to hex ball joints.

It is to be understood that the rotary cutting bit 308 may be referredto as a burr, a burr bit, cutting bit, or a drill bit, without departingfrom the scope of this disclosure. The device may generally be referredto as an athroscopic articulating burr.

In conclusion, disclosed is an articulating rotary cutting tool. Unlikeconventional arthroscopic bone burrs, this disclosed tool enters a jointbut can be flexible to allow improved efficiency of bone removal. Theinvention can be used for hip, knee, ankle, or shoulder arthroscopy.Current problems with standard burr design include a fixed angleposition, and the invention solves this problem by providing a constantvelocity joint allowing a cutting bit to articulate while maintaininggood strength and stability.

The disclosed device may be inserted with its head in a non-articulatedposition, and then once inserted into a target joint the device's headmay be then articulated to remove desired area of bone. The articulatingfeature allows access through a smaller diameter portal compared toprior art devices since the device can be inserted in a collinearnon-articulated position, and allows access to complex areas of anatomyfor drilling bone, or performing tissue resection due to thearticulating feature of the head or tip of the device. The device may beused for drilling, resection, RF, or other aspects of surgery such as aninsertion of an implant.

The joint 502 may be a hex-ball joint, for hex ball articulation of thehead of the device, providing an articulating rotary burr. Such ahex-ball joint provides a constant velocity of rotational motion along acutting or drilling rotational axis of a rotary cutting bit. In oneexample, a spring coil (e.g. in a flexible spring joint) is used in anarticulating rotary head to provide a constant velocity of rotationalmotion to a burr at both an articulated and non-articulated angle. Atrigger assembly (i.e. controller) may include an articulated slidemechanism of two surfaces attached to a trigger to efficientlyarticulate the head while also providing a constraint to flexion andextension of the head in an articulated position. This can be seen inthe trigger assembly of FIGS. 14 and 15, which will prevent aspring-joint version of the articulating head from excessively flexingor extending inadvertently during use (holding articulation steady in alocked position).

The articulating head may have a constrained hinge that allows motiononly in one plane, as a non-limiting example. The device also may havethe ability to interchange any of the herein disclosed variations ofassemblies for different iterations of the device. For example, anon-spring biased trigger (e.g. articulated slide mechanism) may be usedwith a non-spring joint of the head, and the spring joint of the headmay be used with the spring biased trigger, and vice-versa, withoutdeparting from the scope of this disclosure.

It is to be understood that the disclosed device does not have thelimitations found in U-Joints. For example, U-joints are limited intheir ability to accomplish rotational motion in an articulatedposition, unlike the device of this disclosure.

The disclosed device allows the following advantages over the prior art,and more particularly universal joint burrs: higher stability at highspeeds, less metallic wear debris produced, less vibration, the abilityto reach much higher burring speeds safely, a hex ball constant velocityjoint configuration or the flexible spring configuration having fewerintricate parts and being easier to manufacture than a configurationinvolving U-joint couplings, allowing lower cost of production, allowingthe device to be a disposable instead of being a multiple use devicewhich provides better profit for a manufacturing company, allowing lowercost in surgery, and having a more simplified articulating design whichis more cost effective.

Both the above disclosed hex ball configuration (FIGS. 3, 5-7, 9, and10) and flexible spring configuration (FIGS. 16 and 17) allow forarticulation of the rotary head while running at a constant velocity athigh speeds. The articulating head may have a constrained hinge thatallows motion only in one plane. The trigger assembly may includearticulating sliding surfaces (FIGS. 14 and 15) attached to cables whichprovide dual constraint to excessive flexion or extension of thearticulating head to effectively prevent it from moving inadvertently inthe locked position. The trigger assembly may be designed to have asingle spring loaded button 824 (FIG. 8) that will straighten thearticulating head with a simple push of the button 824, thereby easingcontrol and use of the articulating rotary tool.

Since many modifications, variations, and changes in detail can be madeto the described preferred embodiments of the invention, it is intendedthat all matters in the foregoing description and shown in theaccompanying drawings be interpreted as illustrative and not in alimiting sense. Thus, the scope of the invention should be determined bythe appended claims and their legal equivalents.

What is claimed is:
 1. An articulating rotary cutting tool, comprising:an outer shaft having a proximal end and a distal end; at the distalend, a selectively articulable cutting head that is configured toarticulate about a joint; at the proximal end, a controller; alongitudinal structure extending between the articulable cutting headand the controller through the outer shaft; a drive shaft within theouter shaft extending between the proximal end and the distal end, thedrive shaft attached to or having an integrated rotary socket at thedistal end for driving the rotary socket, the longitudinal structurelocated between the drive shaft and the outer shaft, the drive shaftconnectable to a driver at a proximal end of the drive shaft for beingdriven to translate rotational motion delivered by the driver to thearticulable cutting head; wherein the longitudinal structure is attachedto the controller and the articulable cutting head such that operatingthe controller causes the longitudinal structure to displace toselectively articulate the articulable cutting head about the joint; andwherein the articulable cutting head includes a rotary cutting bit andan articulable support that the rotary cutting bit rotates in relationto, the rotary cutting bit being configured to be rotationally driven bythe rotary socket such that the rotary cutting bit is rotationallydrivable by the rotary socket in both a non-articulated and anarticulated position.
 2. The articulating rotary cutting tool of claim1, wherein the rotary cutting bit and the articulable support articulatetogether upon the controller being operated.
 3. The articulating rotarycutting tool of claim 1, wherein the rotary socket is located inside theouter shaft at the distal end of the outer shaft.
 4. The articulatingrotary cutting tool of claim 1, wherein the drive shaft and the rotarysocket rotate about a longitudinal axis of rotation in relation to theouter shaft and the longitudinal structure.
 5. The articulating rotarycutting tool of claim 1, wherein the drive shaft and rotary socketrotate in relation to the outer shaft and the longitudinal structure tocause the rotary cutting bit to rotate in relation to the articulablesupport of the articulable cutting head in both an articulated andnon-articulated position of the articulable cutting head.
 6. Thearticulating rotary cutting tool of claim 1, wherein the longitudinalstructure translates longitudinally in relation to the outer shaft tocause the articulable cutting head to articulate.
 7. The articulatingrotary cutting tool of claim 1, wherein the articulating rotary cuttingtool further comprises: a distal connector; wherein the distal connectoris configured to connect the articulable cutting head to the distal endof the outer shaft; and wherein the distal connector includes a space toreceive the longitudinal structure therethrough for attaching a distalend of the longitudinal structure to the articulable cutting head. 8.The articulating rotary cutting tool of claim 1, wherein the joint has ajoint axis of pivotation that passes through the rotary socket.
 9. Thearticulating rotary cutting tool of claim 1, wherein the rotary cuttingbit pivotably attaches at a pivotal bit attachment point to a distal endof the rotary socket, such that the rotary cutting bit articulates bypivoting about the pivotal bit attachment point, about a bit axis ofpivotation.
 10. The articulating rotary cutting tool of claim 7, whereinthe articulable support is pivotably attached to the distal connector atopposing pivotal support attachment points, allowing the articulablesupport to pivotally articulate by pivoting about a support axis ofpivotation that passes through a pivotal bit attachment point of therotary cutting bit.
 11. The articulating rotary cutting tool of claim 7,wherein the articulable support and the rotary cutting bit share an axisof pivotation through a pivotal attachment point of the articulablesupport at the distal connector, and through a pivotal attachment pointof the rotary cutting bit at the rotary socket.
 12. The articulatingrotary cutting tool of claim 11, wherein the axis of pivotation passesthrough both pivotal attachment points of the articulable support andthe rotary cutting bit.
 13. The articulating rotary cutting tool ofclaim 1, wherein the rotary cutting bit includes a rotary cutting bitgroove, and the articulable support is configured to receive twoparallel opposing bit pins on opposing sides of the articulable support,such that the rotary cutting bit is supported by the two bit pinscontacting the rotary cutting bit groove while the rotary cutting bit isdriven.
 14. The articulating rotary cutting tool of claim 1, wherein therotary socket includes a groove, and the outer shaft is configured toreceive two parallel opposing socket pins on opposing sides of the outershaft, such that the rotary socket is supported by the socket pinscontacting the rotary socket groove while the rotary socket is driven.15. The articulating rotary cutting tool of claim 1, wherein the rotarycutting bit is flexibly attached to the rotary socket by an intermediateflexible structure, the flexible structure acting as a flexible springjoint.
 16. The articulating rotary cutting tool of claim 15, wherein theflexible structure is a spring.
 17. The articulating rotary cutting toolof claim 1, wherein the controller includes a trigger that is pivotablyattached to the outer shaft at opposing pivotal trigger attachmentpoints such that the trigger pivots about a trigger pivotation axis. 18.The articulating rotary cutting tool of claim 17, wherein a proximal endof the longitudinal structure is attached to the trigger at alongitudinal structure-trigger connection point, where the longitudinalstructure-trigger connection point is a point that is spaced away fromthe trigger pivotation axis, such that pulling the trigger causes thelongitudinal structure-trigger connection point to displace in relationto the trigger pivotation axis.
 19. The articulating rotary cutting toolof claim 17, wherein the controller includes a toothed slide connectedto the trigger, and a proximal end plug that fixedly fits in theproximal end of the outer shaft, such that pulling the trigger displacesthe toothed slide, wherein the proximal end plug has an external plugportion configured to snap into notches between teeth of the toothedslide such that pulling the trigger causes the external plug portion ofthe proximal end plug to snap into a next notch of the notches.
 20. Thearticulating rotary cutting tool of claim 1, wherein the proximal endplug is configured to receive the drive shaft freely therethrough. 21.The articulating rotary cutting tool of claim 19, wherein a longitudinalstructure-trigger connecting slide is included in the controller toconnect the longitudinal structure to the trigger at the longitudinalstructure-trigger connection point, where the trigger is pivotablyattached to the longitudinal structure-trigger connecting slide, wherethe longitudinal structure-trigger connecting slide is configured toreceive the longitudinal structure through a receiving space of thelongitudinal structure-trigger connecting slide, where the longitudinalstructure-trigger connecting slide also is connected to the toothedslide for displacing the toothed slide, and where pulling the triggertranslates the longitudinal structure-trigger connecting slidelongitudinally in a direction away from the distal end of the outershaft, to cause the toothed slide to translate.
 22. The articulatingrotary cutting tool of claim 19, wherein the longitudinalstructure-trigger connecting slide is pivotably connected to the toothedslide to reduce lateral forces applied to the toothed slide by thelongitudinal structure-trigger connecting slide translating.
 23. Thearticulating rotary cutting tool of claim 10, wherein the articulatingrotary cutting tool further comprises: a second longitudinal structurethat is attached at one end to a spring at the proximal end of the outershaft and attached at an opposite end of the second longitudinalstructure to an upper portion of the articulable cutting head laterallyabove the pivotal support attachment points and laterally above apivotal bit attachment point, the second longitudinal structure passingthrough the distal connector, the spring biasing the articulable cuttinghead toward a non-articulated position by applying a longitudinalbiasing force having a force vector pointed away from the articulablecutting head, causing a trigger to be spring biased toward anon-articulating position, since a forward biasing force on the triggeris mechanically dependent on the spring biasing force applied by thespring through the second longitudinal structure, through thearticulable cutting head, and through the first longitudinal structure.24. The articulating rotary cutting tool of claim 23, wherein the twolongitudinal structures are vertically aligned and parallel.
 25. Thearticulating rotary cutting tool of claim 23, wherein the spring biasapplied by the second longitudinal structure to the trigger by way ofpulling the articulable cutting head causes teeth of a toothed slide tobe longitudinally force-biased against an external plug portion, suchthat pulling the trigger can overcome the spring bias and snap theexternal plug portion between the teeth, and such that the trigger isselectively lockable into a next notch between the teeth.
 26. Thearticulating rotary cutting tool of claim 1, wherein the controllerfurther includes a spring biased button that arcs over the drive shaftand contacts a toothed slide such that when the button is pressed thetoothed slide translates laterally away from the drive shaft such thatthe toothed slide releases from being longitudinally forced against anexternal plug portion causing a trigger to translate back to thenon-articulating position due to the spring bias applied by the springand the second longitudinal structure, allowing a user to subsequentlypull the trigger to selectively lock the toothed slide behind theexternal plug portion in increments set by a spacing of the teeth to oneor more articulated positions set by the spacing of the teeth, and suchthat the user may press the spring biased button again to release thetoothed slide from being longitudinally forced against the external plugportion and be displaced back into the non-articulating position by wayof a spring force applied through the second longitudinal structure bythe spring.
 27. The articulating rotary cutting tool of claim 1, whereinthe controller further includes: a second spring biasing a toothed slideupwards, laterally, to allow teeth to be laterally forced against anexternal plug portion and to allow the external plug portion to contacta top surface of the toothed slide, to allow the teeth to apply alongitudinal force against the external plug portion due to a springbias of a first spring, such that the button contacts a top surface ofthe toothed slide to cause the toothed slide to displace downwardagainst the second spring when the button is pressed to release theteeth from being longitudinally forced against the external plugportion.
 28. The articulating rotary cutting tool of claim 27, whereinthe second spring receives a perpendicular, laterally, and downwardlyextending portion of the toothed slide such that the second springapplies a longitudinal resistive force to the downwardly extendingportion of the toothed slide when the trigger is pulled.
 29. Thearticulating rotary cutting tool of claim 27, wherein the proximal endplug houses the first spring and a front portion of the longitudinalstructure-trigger connecting slide, and a proximal end of the firstspring is attached to a proximal portion of the proximal end plug. 30.The articulating rotary cutting tool of claim 1, wherein thearticulating rotary cutting tool further comprises: a secondlongitudinal structure attached to a second longitudinalstructure-trigger connection point on a trigger, such that the secondlongitudinal structure-trigger connection point is opposite to a firstlongitudinal structure-trigger connection point of a first longitudinalstructure with respect to a trigger pivotation axis, where the secondlongitudinal structure-trigger connection point is spaced away from thetrigger pivotation axis, such that operating the trigger causes thefirst longitudinal structure-trigger connection point and the secondlongitudinal structure-trigger connection point to displace in oppositedirections to selectively articulate the cutting head betweennon-articulated and articulated positions.
 31. The articulating rotarycutting tool of claim 1, wherein the controller includes a toothed arm,such that pushing a button displaces the toothed arm, wherein a proximalend of the trigger is configured to snap into notches between teeth ofthe toothed arm such that pulling or pushing the trigger causes theproximal end of the trigger to snap into a next notch, respectively,wherein operating the button releases pressure between the proximal endof the trigger and the toothed arm to allow the trigger to more freelymove with respect to the toothed arm.
 32. The articulating rotarycutting tool of claim 31, wherein the toothed arm is curved, matching anarc travelable by the proximal end of a trigger.
 33. The articulatingrotary cutting tool of claim 1, wherein a button is configured toreceive the drive shaft freely therethrough, and includes two sets ofhorizontal lateral extensions, one set on each side, such that twoopposing longitudinal extensions of a toothed arm are each respectivelyreceived in a gap between each set of horizontal extensions of thebutton, to allow the button to press down and up on longitudinalextensions of the toothed arm.
 34. The articulating rotary cutting toolof claim 1, wherein a toothed arm arcs over, and is pivotably attachedto a toothed arm attachment point at opposing outer surfaces of theouter shaft between longitudinal extensions and a distal portion of thetoothed arm, such that pressing down on the longitudinal extensions viaa button and upper horizontal extensions of the button causes the distalportion to rise, and wherein the button is spring biased laterallyupward via a spring to bias the longitudinal extensions upward via lowerhorizontal extensions of the button, for maintaining an appropriatepressure between the distal portion of the toothed arm and the proximalend of the trigger, the toothed arm attachment point being a fulcrumpoint for the toothed arm pivoting according to pressing or releasingthe button.
 35. The articulating rotary cutting tool of claim 1, whereinthe longitudinal structures each have ball ends to prevent thelongitudinal structures from passing through their respective connectionpoints.
 36. The articulating rotary cutting tool of claim 1, wherein aproximal end of the drive shaft is covered by a housing.
 37. Thearticulating rotary cutting tool of claim 1, wherein the controllerincludes a housing to secure its components, while exposing the button,the trigger, a proximal portion of the drive shaft, the housing of thedrive shaft, forward portions of the outer shaft, and the articulablecutting head.
 38. The articulating rotary cutting tool of claim 1,wherein a sheath may be fixedly attached to the articulable support toblock non-cutting portions of the articulable support.
 39. Anarticulating rotary cutting tool, comprising: an outer shaft having aproximal end and a distal end; at the distal end, a selectivelyarticulable cutting head that is configured to articulate about a joint;at the proximal end, a controller; a longitudinal structure extendingbetween the articulable cutting head and the controller through theouter shaft; a drive shaft within the outer shaft extending between theproximal end and the distal end, the drive shaft attached to or havingan integrated rotary socket at the distal end for driving the rotarysocket, the longitudinal structure located between the drive shaft andthe outer shaft, the drive shaft connectable to a driver at a proximalend of the drive shaft for being driven to translate rotational motiondelivered by the driver to the articulable cutting head; wherein thelongitudinal structure is attached to the controller and the articulablecutting head such that operating the controller causes the longitudinalstructure to displace to selectively articulate the articulable cuttinghead about the joint; and wherein the articulable cutting head includesa rotary cutting bit and an articulable support that the rotary cuttingbit rotates in relation to, the rotary cutting bit being configured tobe rotationally driven by the rotary socket such that the rotary cuttingbit is rotationally drivable by the rotary socket in both anon-articulated and an articulated position; and wherein the rotarycutting bit and the articulable support articulate together upon thecontroller being operated.
 40. A method of using an articulating rotarycutting tool, the method comprising: providing an articulating rotarycutting tool, the tool comprising: an outer shaft having a proximal endand a distal end; at the distal end, a selectively articulable cuttinghead that is configured to articulate about a joint; at the proximalend, a controller; a longitudinal structure extending between thearticulable cutting head and the controller through the outer shaft; adrive shaft within the outer shaft extending between the proximal endand the distal end, the drive shaft attached to or having an integratedrotary socket at the distal end for driving the rotary socket, thelongitudinal structure located between the drive shaft and the outershaft, the drive shaft connectable to a driver at a proximal end of thedrive shaft for being driven to translate rotational motion delivered bythe driver to the articulable cutting head; wherein the longitudinalstructure is attached to the controller and the articulable cutting headsuch that operating the controller causes the longitudinal structure todisplace to selectively articulate the articulable cutting head aboutthe joint; and wherein the articulable cutting head includes a rotarycutting bit and an articulable support that the rotary cutting bitrotates in relation to, the rotary cutting bit being configured to berotationally driven by the rotary socket such that the rotary cuttingbit is rotationally drivable by the rotary socket in both anon-articulated and an articulated position; and wherein the rotarysocket is located inside the outer shaft at the distal end of the outershaft; wherein the controller includes a trigger that causesarticulation in one direction and a button that causes articulation inan opposite direction; pulling the trigger to cause the cutting head toarticulate in a first direction and lock into place selectively; andpushing a button to cause the cutting head to articulate in a seconddirection opposite the first direction after the cutting head is lockedin place.